linear encoder instruction manual fileinstruction manual and appended documents carefully and can...

SH (NA) 030111-F (1409) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODELCODE

General-Purpose AC Servo

compatible

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

LINEAR ENCODERINSTRUCTION MANUAL

LINEAR ENCODER INSTRUCTIONMANUAL

1CW947

F

A - 1

Safety Instructions Please read the instructions carefully before using the equipment.

Do not attempt to install, operate, maintain or inspect the equipment until you have read through this

Instruction Manual and appended documents carefully and can use the equipment correctly. Do not use the

equipment until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

WARNING Indicates that incorrect handling may cause hazardous conditions,

resulting in death or severe injury.

CAUTION Indicates that incorrect handling may cause hazardous conditions,

resulting in medium or slight injury to personnel or may cause physical

damage.

Note that the CAUTION level may lead to a serious consequence according to conditions.

Please follow the instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by .

Indicates what must be done. For example, grounding is indicated by .

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so

on are classified into "POINT".

After reading this Instruction Manual, keep it accessible to the operator.

A - 2

MEMO

1

CONTENTS

1. LINEAR ENCODER 1- 1 to 1-58

1.1 Compatible linear encoder list ........................................................................................................... 1- 2

1.2 Linear encoder manufactured by Mitutoyo (absolute type) ............................................................... 1- 5

1.2.1 AT343A ........................................................................................................................................ 1- 5

1.2.2 AT543A-SC/AT545A-SC ............................................................................................................ 1-10

1.2.3 ST741A/ST742A/ST743A/ST744A ............................................................................................ 1-15

1.3 Linear encoder manufactured by Heidenhain ................................................................................... 1-21

1.3.1 LC 493M/LC 193M (absolute type) ............................................................................................ 1-21

1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M (absolute type) ................................................. 1-26

1.3.3 LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or

LIP 581 + EIB 392M (incremental type) ..................................................................................... 1-33

1.4 Linear encoder manufactured by Magnescale ................................................................................. 1-38

1.4.1 SR77/SR87/SR75/SR85 ............................................................................................................ 1-38

1.4.2 SL710 + PL101-RM/RHM (incremental type) ............................................................................ 1-40

1.5 Linear encoder RESOLUTE RL40M (absolute position type) manufactured by Renishaw ............. 1-45

1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type) ........................... 1-50

1.7 A/B/Z-phase differential output linear encoder ................................................................................. 1-55

2. OPTION CABLE/CONNECTOR SETS 2- 1 to 2- 4

2.1 MR-EKCBL_M-H encoder cable ........................................................................................................ 2- 1

2.2 MR-ECNM connector set ................................................................................................................... 2- 2

2.3 MR-J3CN2 connector set .................................................................................................................. 2- 2

2.4 MR-J4THCBL03M branch cable ........................................................................................................ 2- 3

2.5 MR-J4FCCBL03M branch cable ........................................................................................................ 2- 4

3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1] 3- 1 to 3- 2

APPENDIX App.- 1 to App.- 1

App. 1 Production of branch cable for linear servo motor .................................................................. App.- 1

App. 2 Production of branch cable for fully closed loop control system ............................................. App.- 1

App. 3 Manufacturer list ...................................................................................................................... App.- 1

2

MEMO

1. LINEAR ENCODER

1 - 1

1. LINEAR ENCODER

CAUTION More careful measures against oil and dust must be taken for the linear encoder

than the linear servo motor. For details, contact each linear encoder

manufacturer.

POINT

Always use the linear encoder cable introduced in this chapter. Using other

products may cause a malfunction.

For details of the linear encoder specifications, performance and assurance,

contact each linear encoder manufacturer.

A linear encoder communication method cannot be used depending on the

software version of the servo amplifier. Refer to section 1.1 for combinations of

the communication methods and software versions.

When the linear encoder is incorrectly installed, an alarm or a position mismatch

may occur. In this case, refer to the following general checking points for the

linear encoder to confirm the installation.

Check that the gap between the head and scale is proper.

Check the scale head for rolling and yawing (looseness of scale head section).

Check the scale surface for contamination and scratches.

Check that the vibration and temperature are within the specified range.

Check that the speed is within the permissible range without overshooting.

Refer to section 1.1 for combinations of the linear encoders and servo

amplifiers.

When using a shell kit (36310-3200-008/36310-F200-008) of 3M or connector

set (54599-1019) of Molex, securely connect the external conductor of the

shielded cable to the ground plate and fix it to the connector shell.

Screw

Cable

Ground plate

1. LINEAR ENCODER

1 - 2

1.1 Compatible linear encoder list

Linear encoder type Manufacturer Model Resolution Rated speed

(Note 1)

Effective measurement

length (maximum)

(Note 2)

Commu-nication method

Absolute position

detection system

Mitsubishi serial interface compatibility

Absolute position type

Magnescale SR77

0.05 µm/ 0.01 µm

3.3 m/s 2040 mm Two-

wire type

SR87 3040 mm

AT343A 0.05 µm

2.0 m/s 3000 mm AT543A-SC 2.5 m/s 2200 mm

AT545A-SC 20 µm/4096

(approx. 0.005 µm)

2.5 m/s 2200 mm Two-wire type

Mitutoyo ST741A 0.5 µm

ST742A ST743A 4.0 m/s 6000 mm ST744A 0.1 µm ST748A

Renishaw RESOLUTE RL40M 1 nm/50 nm 4.0 m/s 10000 mm Two-wire type

Heidenhain

LC 493M 0.05 μm/ 0.01 μm

3.0 m/s

2040 mm Four-wire type

(Note 4)LC 193M 4240 mm

LIC 4193M

0.01 μm 4.0 m/s

3040 mm Two-wire type/ Four-wire type

(Note 4)

LIC 4195M 28040 mm LIC 4197M 6040 mm

LIC 4199M 1020 mm

Incremental type

Magnescale

SR75 0.05 μm/ 0.01 μm

3.3 m/s 2040 mm

Two-wire type

SR85 3040 mm

SL710 + PL101-RM/RHM

0.1 µm 4.0 m/s 100000 mm

Heidenhain

LIDA 483 + EIB 392M (/16384)

20 μm/16384 (approx. 1.22

nm) 4.0 m/s

3040 mm

Four-wire type

(Note 4)

LIDA 485 + EIB 392M (/16384)

to 30040 mm

LIDA 487 + EIB 392M (/16384)

6040 mm

LIDA 489 + EIB 392M (/16384)

1020 mm

LIDA 287 + EIB 392M (/16384) 200 μm/16384

(approx. 12.2 nm)

10000 mm LIDA 289 + EIB 392M

(/16384) LIF 481 + EIB 392M

(/4096) 4 μm/4096 (approx. 0.977

nm) 1.2 m/s

1020 mm 1440 mm LIP 581 + EIB 392M

(/4096)

NIDEC SANKYO PSLH041 (Note 6) 0.1 μm 5.0 m/s 2400 mm Two-wire type

A/B/Z-phase differential output type

Incremental type

Not specified 0.001 µm to 5

µm (Note 3)

Depends on the linear

encoder

Depends on the linear encoder

A/B/Z-phase differe-

ntial output method(Note 5)

Note 1. The indicated value is the rated speed of linear encoder when combined with MR-J4 servo amplifier. It may be different from

the specifications of each manufacturer.

2. The indicated value is the specification value of manufacturer. The encoder cable length between the linear encoder and the

servo amplifier is maximum 30 m.

3. Please select a linear encoder within the range.

4. When using a linear encoder of four-wire type with fully closed loop control, use an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ.

When using a linear encoder of four-wire type with scale measurement function, use an MR-J4-(DU)_B_-RJ.

5. When using a linear encoder of A/B/Z-phase differential output method, use an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ.

6. This can be used with servo amplifier with software version B3 or later.

1. LINEAR ENCODER

1 - 3

The following table shows connectors of servo amplifiers to connect a linear encoder.

(1) For an MR-J4-_A(1)(-RJ), MR-J4-_B(1)(-RJ), and MR-J4W_-_B servo amplifiers

Operation mode

External encoder communication

method

External connection connector

MR-J4-_A MR-J4-_A1

MR-J4-_A-RJMR-J4-_A1-RJ

MR-J4-_B MR-J4-_B1

MR-J4-_B-RJ MR-J4-_B1-RJ

MR-J4W2-_B MR-J4W3-_B

Linear servo motor system

Two-wire type

CN2 (Note 1, 6)

CN2 (Note 1)

CN2 (Note 1)

CN2 (Note 1)

CN2A (Note 1) CN2B

(Note 1)

CN2A (Note 1) CN2B

(Note 1) CN2C

(Note 1)

Four-wire type

A/B/Z-phase differential output method

CN2L

(Note 8)

CN2L (Note 8)

Fully closed loop system

Two-wire type CN2

(Note 2, 3, 6)

CN2L

CN2 (Note 2, 3, 5)

CN2L

CN2A (Note 2, 4, 5)

CN2B (Note 2, 4, 5)

Four-wire type


Scale measurement function

Two-wire type

CN2 (Note 2, 3, 7)

CN2L (Note 7)

CN2A (Note 2, 4, 7)

CN2B (Note 2, 4, 7)

Four-wire type


Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A(1) and MR-J4-_B(1) cannot be used.

Use an MR-J4-_A(1)-RJ or MR-J4-_B(1)-RJ.

4. When the communication method of the servo motor encoder is four-wire type, MR-J4W2-_B cannot be used. Use an MR-J4-

_B-RJ.

5. Supported by servo amplifiers with software version A3 or above.



8. Connect a thermistor to CN2.

1. LINEAR ENCODER

1 - 4

(2) For an MR-J4-_A4(-RJ) and MR-J4-_B4(-RJ) servo amplifiers

Operation mode


method


MR-J4-_A4 MR-J4-_A4-RJ MR-J4-_B4 MR-J4-_B4-RJ

Linear servo motor system

Two-wire type CN2 (Note 1)

CN2 (Note 1)

CN2 (Note 1)

CN2 (Note 1)

Four-wire type


CN2L

(Note 5)

CN2L (Note 5)


Two-wire type CN2

(Note 2, 3)

CN2L

CN2 (Note 2, 3)

CN2L Four-wire type



Two-wire type

CN2 (Note 2, 3, 4)

CN2L (Note 4)

Four-wire type


Note 1. The MR-J4THCBL03M branch cable is necessary.

2. The MR-J4FCCBL03M branch cable is necessary.

3. When the communication method of the servo motor encoder is four-wire type, MR-J4-_A4 and MR-J4-_B4 cannot be used.

Use an MR-J4-_A4-RJ or MR-J4-_B4-RJ.


5. Connect a thermistor to CN2.

(3) For an MR-J4-DU_A_(-RJ) and MR-J4-DU_B_(-RJ) drive units

Operation mode


method


MR-J4-DU_A_ MR-J4-DU_A_-RJ MR-J4-DU_B_ MR-J4-DU_B_-RJ


Two-wire type CN2 (Note 1, 2)

CN2L

CN2 (Note 1, 2)

CN2L

Four-wire type

A/B/Z-phase

differential output method


Two-wire type

CN2 (Note 1, 2)

CN2L

Four-wire type

A/B/Z-phase differential output

method

Note 1. The MR-J4FCCBL03M branch cable is necessary.

2. When the communication method of the servo motor encoder is four-wire type, MR-J4-DU_A_ and MR-J4-DU_B_ cannot be

used. Use an MR-J4-DU_A_-RJ or MR-J4-DU_B_-RJ.

1. LINEAR ENCODER

1 - 5

1.2 Linear encoder manufactured by Mitutoyo (absolute type)

POINT

When the absolute position detection system is configured, the absolute position

battery is not required.

1.2.1 AT343A

(1) Cable composition

Prepare a cable based on the following configuration diagram.

(a) For the linear servo motor

1) MR-J4-_A_, MR-J4-_B_, or MR-J4W_-_B servo amplifier

Thermistor of linear servo motor

Branch cable

CN2BCN2A

CN2

CN2C

MR-J4W_-_Bservo amplifier

MR-J4-_A_or

MR-J4-_B_servo amplifier

(Note 1)

Linear encoderAT343A

2)

1)

3)

Encoder cable 1

CN2 4) SCALE

THM

or

(Note 3)


Encoder cable 2

5)

Branch cable Encoder cable Output cable

When using an optional encoder cable

4) MR-J4THCBL03M (Refer to section 2.4.)

1) MR-EKCBL_M-H 2 m/5 m (Refer to section 2.1.)

3) Options manufactured by Mitutoyo (Note 2) Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m

When fabricating the encoder cable

2) Connector set MR-ECNM (Refer to (2) (a) of this section.)

When not using a branch cable

5) Connector set MR-ECNM (Refer to (2) (b) of this section.)

Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not

have CN2C.

2. It should be prepared by the customer.

3. For connectors for thermistor signals, change how to connect depending on the customer's system.

1. LINEAR ENCODER

1 - 6

2) MR-J4-_A_-RJ or MR-J4-_B_-RJ servo amplifier


Branch cable

CN2

CN2L

MR-J4-_A_-RJ or

MR-J4-_B_-RJservo amplifier Linear encoder

AT343A

2)

1)

3)


Encoder cable 1

CN2 4) SCALE

THM (Note 2)

5)

Encoder cable 2





3) Options manufactured by Mitutoyo (Note 1) Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m





Note 1. It should be prepared by the customer.


1. LINEAR ENCODER

1 - 7

(b) For the fully closed loop system and scale measurement function

1) MR-J4-_A_/MR-J4-_B_/MR-J4W2-_B servo amplifier or MR-J4-DU_A_/MR-J4-DU_B_ drive unit

MR-J4-_A_/MR-J4-_B_

servo amplifieror

MR-J4-DU_A_/MR-J4-DU_B_

drive unit Linear encoderAT343A

Encoder cable 1

Branch cable

CN2 4) SCALE

MOTOR

2)

3)

1)

Encoder of rotary servo motorCN2BCN2A

CN2

MR-J4W2-_Bservo amplifier

or



4) MR-J4FCCBL03M (Refer to section 2.5.)


3) Options manufactured by Mitutoyo (Note) Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m



Note. It should be prepared by the customer.

2) MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit

1)

Encoder of rotary servo motor

MR-J4-_A_-RJ/MR-J4-_B_-RJservo amplifier

orMR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ

drive unit

CN2

CN2L Linear encoderAT343A

2)

3)

Encoder cable 1

Encoder cable Output cable



3) Options manufactured by Mitutoyo (Note) Part No.09BAA598A: 0.2 m Part No.09BAA598B: 2 m Part No.09BAA598C: 3 m




1. LINEAR ENCODER

1 - 8

(2) Production of encoder cable

Produce the encoder cable using MR-ECNM as shown below. The encoder cable can be produced as

the length of maximum 30 m.

(a) Encoder cable 1

View seen from wiring side. (Note 3)

1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR

Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M)

Connector set: 54599-1019(Molex)

(Note 2)

(Note 2)

P5

LG

1

2

MR

MRR

3

4

7

Servo amplifier side Linear encoder side

SD Plate

1

2

8

9

LG

RQ

/RQ

FG

P5(Note 1)

(Note 2)

RQ1 2 3

/RQ4 5 6

P57 8 9

LG FG

View seen from wiring side.

Housing: 1-172161-9Connector pin: 170359-1(TE Connectivity orequivalent)Cable clamp: MTI-0002(Toa Electric Industry)

Note 1. We recommend the following specifications encoder cables.

Wiring length Number of LG and P5 connections

(when the output cable is 3 m or less)Cable size

to 5 m 1-pair

to 10 m 2-pair AWG 22

to 20 m 3-pair

to 30 m 5-pair

2. For the CN2L connector, signals of pin 3 and pin 4 will be as follows.

Pin 3: MR2 Pin 4: MRR2

3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is connected with

any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1, securely connect the external

conductor of the shielded cable to the ground plate and fix it to the connector shell.

1. LINEAR ENCODER

1 - 9

(b) Encoder cable 2


or




THM2

THM1

1P5

3 7 9

4MRR

2LG

86 10

5

4MRR

THM2

THM1

2LG 8

6

1P5

5

10

3 79

MR

MR

P5

LG

1

2

MR

MRR

3

4

THM1

THM2

5

6

7


1

2

8 LG

RQ

/RQ

P5

SD Plate 9 FG

(Note 1)

AWG 24 to 20

Thermistor oflinear servomotor (Note 2)



RQ1 2 3

/RQ4 5 6

P57 8 9

LG FG




to 5 m 1-pair


to 20 m 3-pair

to 30 m 5-pair

2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction Manual".




1. LINEAR ENCODER

1 - 10

1.2.2 AT543A-SC/AT545A-SC





Linear encoderAT543A-SC or AT545A-SC

2)

1)

Encoder cable 1


Branch cable

CN2BCN2A

CN2

CN2C


(Note 1)

CN2 3) SCALE

THM

or

Output cable Head cable


4)

(Note 2)

MR-J4-_A_or


Encoder cable 2

Branch cable Encoder cable Output cable Head cable




Accessories for linear encoder Cable length: 3 m






Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not have CN2C.


1. LINEAR ENCODER

1 - 11


MR-J4-_A_-RJ or

MR-J4-_B_-RJservo amplifier


2)


1)

Encoder cable 1


Branch cable

CN2

CN2L

CN2 3) SCALE

THM (Note)


4)

Encoder cable 2











Note. For connectors for thermistor signals, change how to connect depending on the customer's system.

1. LINEAR ENCODER

1 - 12



MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unitEncoder cable 1

Branch cable

Encoder of rotary servo motorCN2BCN2A

CN2


or2)


1)

CN2 3) SCALE

MOTOR













drive unit

Encoder of rotary servo motorCN2

2)

1)

Encoder cable 1CN2L Linear encoderAT543A-SC or AT545A-SC


Encoder cable Output cable Head cable







1. LINEAR ENCODER

1 - 13


Produce the encoder cable using MR-ECNM as shown below. The encoder cable can be produced as

the length of maximum 30 m.

(a) Encoder cable 1


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR


Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M) (Note 2)

(Note 2)

P5

LG

1

2

MR

MRR

3

4

7


SD Plate

1

2

8

9

LG (0V)

RQ

/RQ

FG

P5 (+5V)(Note 1)

(Note 2)

P5(+5 V)

LG(0 V)

RQ1 2 3

/RQ4 5 6

7 8 9FG






to 5 m 1-pair


to 20 m 4-pair

to 30 m 5-pair






1. LINEAR ENCODER

1 - 14

(b) Encoder cable 2


or




THM2

THM1

1P5

3 7 9

4MRR

2LG

86 10

5

4MRR

THM2

THM1

2LG 8

6

1P5

5

10

3 79

MR

MR

P5

LG

1

2

MR

MRR

3

4

THM1

THM2

5

6

7


1

2

8 LG

RQ

/RQ

P5

SD Plate 9 FG

(Note 1)

AWG 24 to 20


LG (0V)

P5 (+5V)



1RQ

2 3/RQ

4 5 6

P5(+5 V)

7 8 9LG

(0 V) FG




to 5 m 1-pair


to 20 m 4-pair

to 30 m 5-pair





1. LINEAR ENCODER

1 - 15

1.2.3 ST741A/ST742A/ST743A/ST744A





PersonalcomputerSoftware for

signal adjustment Conversion unit

For the signal adjustment and confirmation, connect the following equipments. (Note 3)

Head cable

Linear encoderST741A, ST742A, ST743A,ST744A or ST748A

Encoder cable 1


Branch cable


(Note 1)

or

MR-J4-_A_or


2) 3)

1)

CN2BCN2A

CN2

CN2C

4) SCALECN2

3)5)


THM (Note 4)

Encoder cable 2

Branch cable Encoder cable Head cable



1) Options manufactured by Mitutoyo (Note 2) Part No.06ACF117A: 5 m Part No.06ACF117B: 10 m



2) Connector set MR-J3CN2 (Refer to (2) (a) of this section.)

3) Junction connector (Note 2) D-SUB (female) 15 pin Shell: HDAB-15S Plug case: HDA-CTH (manufactured by Hirose Electric)


5) Connector set MR-J3CN2 (Refer to (2) (b) of this section.)



3. When mounting ST741A, ST742A, ST743A, ST744A or ST748A, a personal computer (with RS-232C port) for the signal

adjustment and confirmation, and a software and conversion unit for signal adjustment are required. For details, contact

Mitutoyo.


1. LINEAR ENCODER

1 - 16


MR-J4-_A_-RJ or





2)

Head cable

Linear encoderST741A, ST742A, ST743A,ST744A, or ST748A

3)

1)

Encoder cable 1


Branch cable

CN2

CN2L

4) SCALE

THM (Note 3)

CN2

3)5)


Encoder cable 2








3) Junction connector (Note 1) D-SUB15 pin (female) Shell: HDAB-15S Plug case: HDA-CTH (Hirose Electric)




2. When mounting ST741A, ST742A, ST743A, ST744A, or ST748A, a personal computer (with RS-232C port) for the signal


Mitutoyo.


1. LINEAR ENCODER

1 - 17






Head cable


Encoder cable 1


Branch cableMR-J4W2-_Bservo amplifier

MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unit

or

2) 3)

1)

CN2 4) SCALE

MOTOR

CN2BCN2A

CN2








3) Junction connector (Note 1) D-SUB (female) 15 Pin shell: HDAB-15S Plug case: HDA-CTH (manufactured by Hirose Electric)


2. When mounting ST741A, ST742A, ST743A, ST744A or ST748A, a personal computer (with RS-232C port) for the signal


Mitutoyo.

1. LINEAR ENCODER

1 - 18


CN2



drive unit

CN2L



For the signal adjustment and confirmation, connect the followingequipments. (Note 2)

2)

Head cable


3)


1)

Encoder cable 1

Encoder cable Head cable






3) Junction connector (Note 1) D-SUB (female) 15 pin Shell: HDAB-15S Plug case: HDA-CTH (manufactured by Hirose Electric)


2. When mounting ST741A, ST742A, ST743A or ST744A, a personal computer (with RS-232C port) for

the signal adjustment and confirmation, and a software and conversion unit for signal adjustment are

required. For details, contact Mitutoyo.

1. LINEAR ENCODER

1 - 19


Produce the load side encoder cable using MR-J3CN2 or a junction connector as shown below. The

encoder cable can be produced as the length of maximum 30 m.

(a) Encoder cable 1


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR


Connector set (option)MR-J3CN2Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M) (Note 2)

(Note 2)

(Note 2)

P5

LG

1

2

MR

MRR

3

4

3

SD Plate 15

1 LG

FG

P5

7

8 /RQ

RQ

4

2 LG

P5


(Note 1)

Shell: HDAB-15SShield cover: HDA-CTH(Hirose Electric or equivalent)

P542

LG861

LG5

9

3/RQ

7RQ

10


11 12 13 14 15

P5

FG



(when the head cable is 1 m or less) Cable size

to 10 m 1-pair

AWG 22 to 20 m 2-pair

to 30 m 3-pair






1. LINEAR ENCODER

1 - 20

(b) Encoder cable 2


or



Connector set (option)MR-J3CN2Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M)

1P5

3 7 9

4MRR

2LG

86 10

5

4MRR

2LG 8

6

1P5

5

10

3 79

MR

MR

THM2

THM1

THM2

THM1


Plate

(Note 1)

AWG 24 to 20


P5

LG

1

SD

2

MR

MRR

3

4

THM1

THM2

5

6

3

1 LG

P5

15 FG

7

8 /RQ

RQ

4

2

P5

LG

Shell: HDAB-15SShield cover: HDA-CTH(Hirose Electric or equivalent)

P542

LG861

LG5

9

3/RQ

7RQ

10


11 12 13 14 15

P5

FG



(when the head cable is 1 m or less) Cable size

to 10 m 1-pair


to 30 m 3-pair





1. LINEAR ENCODER

1 - 21

1.3 Linear encoder manufactured by Heidenhain

POINT



1.3.1 LC 493M/LC 193M (absolute type)

POINT

This linear encoder is of four-wire type. When using this linear encoder, change

the parameter to select the four-wire type. For changing parameters, refer to

each servo amplifier instruction manual.

When using a linear encoder of four-wire type with fully closed loop control, use

an MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ.

When using a linear encoder of four-wire type with scale measurement function,

use an MR-J4-(DU)_B_-RJ.

1. LINEAR ENCODER

1 - 22





Encoder cable 2

Encoder cable 1


Branch cable


MR-J4-_A_or


(Note 1)

THM

or

(Note 3)

Linear encoderLC 493M or LC 193M

2)

1)

3)

4) Output cable

CN2BCN2A

CN2

CN2C

CN2 5) SCALE


3)6)


LC 493M/LC 193M



1) Options manufactured by Heidenhain (Note 2) 573661-×× _m

4) 547300-×× _m (Heidenhain) (Note 2)



3) Junction connector (Note 2) 17-pin coupling (female) 291697-26 (Heidenhain)






1. LINEAR ENCODER

1 - 23



2)

1)

3)

Encoder cable 1

4) Output cable


Branch cable

CN2

CN2L

MR-J4-_A_-RJ or


CN2 5) SCALE

THM (Note 2)


3)6)

Encoder cable 2


LC 493M, LC 193M



1) Options manufactured by Heidenhain (Note 1) 573661-×× _m

4) 547300-×× _m (Heidenhain) (Note 1)



3) Junction connector (Note 1) 17-pin coupling (female) 291697-26 (Heidenhain)





(b) When using for fully closed loop system and scale measurement function

MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit


2)

1)

3)

Encoder cable 1

4) Output cable

CN2

CN2L



drive unit


Encoder cable Output cable

LC 493M/LC 193M


1) Options manufactured by Heidenhain (Note 1) 573661-×× _m 4) 547300-×× _m (Heidenhain) (Note)



3) Junction connector (Note) 17-pin coupling (female) 291697-26 (Heidenhain)


1. LINEAR ENCODER

1 - 24


Produce the encoder cable using MR-J3CN2 or a junction connector as shown below. The encoder

cable can be produced as the length of maximum 30 m.

(a) Encoder cable 1

MXR

MX

MXR

MX


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR



(Note 2)

(Note 2)

(Note 2)

Connector: 17-pin coupling291697-26 (female)(Heidenhain)

P5

LG

1

2

7


10 0V

5V

MX

MXR

SD

7

8

Plate

14

17 /SD

FG

SD

1

4 0V/Sensor

5V/Sensor

MR

MRR

3

4

8

9 /RQ

RQ

(Note 1)




to 10 m 1-pair


to 30 m 3-pair

2. For the CN2L connector, signals of pin 3, pin 4, pin 7, and pin 8 will be as follows.

Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2

3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer

adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally.

Referring POINT of chapter 1, securely connect the external conductor of the shielded cable to the

ground plate and fix it to the connector shell.

1. LINEAR ENCODER

1 - 25

(b) Encoder cable 2


or




MXR

MX

MXR

MX

1P5

3 7 9

4MRR

2LG

86 10

5

4MRR

THM2

THM1

THM2

THM1

2LG 8

6

1P5

5

10

3 79

MR

MR

Connector: 17-pin coupling291697-26 (female)(Heidenhain)


0V/Sensor

5V/Sensor

(Note 1)

AWG 24 to 20


THM1

THM2

5

6

P5

LG

1

2

7

10 0V

5V

MX

MXR

SD

7

8

Plate

14

17 /SD

FG

SD

1

4

MR

MRR

3

4

8

9 /RQ

RQ




to 10 m 1-pair


to 30 m 3-pair

2. For wiring to the thermistor of the linear servo motor, refer to "Linear Servo Motor Instruction

Manual".



Referring POINT of chapter 1, securely connect the external conductor of the shielded cable

to the ground plate and fix it to the connector shell.

1. LINEAR ENCODER

1 - 26

1.3.2 LIC 4193M/LIC 4195M/LIC 4197M/LIC 4199M (absolute type)

POINT

These linear encoders have two-wire type and four-wire type. When using a

four-wire type linear encoder, change the parameter to select the four-wire type.

For changing parameters, refer to each servo amplifier instruction manual.





(1) Cable structure




MR-J4-_A_or


or

Linear encoderLIC 4193M, LIC 4195M,LIC 4197M, or LIC 4199M

1)

Head cable

Encoder cable 1, 2

3)2)


Branch cable

CN2BCN2A

CN2

CN2C


(Note 1)

CN2 4) SCALE

THM (Note 3)


3)5)

Encoder cable 3, 4

branch cable Encoder cable Head cable



1) Options manufactured by Heidenhain (Note 2) 630 856-×× _m



2) Connector set MR-J3CN2 (Refer to (2) (a), (b) of this section.)

3) Junction connector (Note 2) D-SUB15 pin (female)


5) Connector set MR-J3CN2 (Refer to (2) (c), (d) of this section.)

Note 1. The connection to CN2C is for the MR-J4 3-axis servo amplifier. MR-J4 2-axis servo amplifier does not

have CN2C.



1. LINEAR ENCODER

1 - 27


MR-J4-_A_-RJor



1)

Head cable

Encoder cable 1, 2


Branch cableCN2

CN2L CN2 4) SCALE

THM (Note 2)


3)5)

Encoder cable 3, 4

3)2)










5) Connector set MR-J3CN2 (Refer to (2) (c), (d) of this section.)



1. LINEAR ENCODER

1 - 28



(two-wire type only)

MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unit

or


1)

Head cable

Encoder cable 1, 2

3)2)


Branch cable

CN2BCN2A

CN2


CN2 4) SCALE

MOTOR




1) Options manufactured by Heidenhain (Note) 630 856-×× _m




3) Junction connector (Note) D-SUB15 pin (female)





drive unitLinear encoderLIC 4193M, LIC 4195M,LIC 4197M, or LIC 4199M

1)

Head cable

Encoder cable 1, 2

3)2)

CN2

CN2L


Encoder cable Head cable








1. LINEAR ENCODER

1 - 29

(2) Fabrication of the encoder cable

Produce the load-side encoder cable using MR-J3CN2 or a junction connector as shown below. The


(a) Encoder cable 1 (two-wire type)

View seen from the wiring side. (Note 3)

1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR


Connector set (optional)MR-J3CN2Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M) (Note 2)

(Note 2)

Connector: D-SUB(female) 15 pin

P5

LG

1

2


0V

5V

SD Plate

0V/Sensor

5V/Sensor

MR

MRR

3

4 /RQ, /SD

RQ, SD

(Note 1)4

2

FG

12

10

8

15(Note 2)


Wiring length Number of LG and P5

connections Wire size

to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair


Pin 3: MR2

Pin 4: MRR2



Referring POINT of chapter 1, securely connect the external conductor of the shielded cable to

the ground plate and fix it to the connector shell.

1. LINEAR ENCODER

1 - 30

(b) Encoder cable 2 (four-wire type)

MXR

MX

MXR

MX


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR



(Note 2)


P5

LG

1

2


0V

5V

MX

MXR

SD

7

8

Plate

/SD

SD

0V/Sensor

5V/Sensor

MR

MRR

3

4 /RQ

RQ

(Note 1)4

2

FG

5

13

12

10

8

15(Note 2)

(Note 2)




to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair


Pin 3: MR2

Pin 4: MRR2

Pin 7: MX2

Pin 8: MXR2





1. LINEAR ENCODER

1 - 31

(c) Encoder cable 3 (two-wire type)


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR


THM2

THM1

THM2

THM1

Connector set (optional)MR-J3CN2Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M)

AWG 24 to 20

Thermistor oflinear servo motor(Note 2)

THM1

THM2

5

6


P5

LG

1

2


0V

5V

SD Plate

0V/Sensor

5V/Sensor

MR

MRR

3

4 /RQ, /SD

RQ, SD

(Note 1)4

2

FG

12

10

8

15




to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair


Manual".





1. LINEAR ENCODER

1 - 32

(d) Encoder cable 4 (four-wire type)

MXR

MX

MXR

MX


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR


THM2

THM1

THM2

THM1


AWG 24 to 20

Thermistor oflinear servo motor(Note 2)

THM1

THM2

5

6


P5

LG

1

2


0V

5V

MX

MXR

SD

7

8

Plate

/SD

SD

0V/Sensor

5V/Sensor

MR

MRR

3

4 /RQ

RQ

(Note 1)4

2

FG

5

13

12

10

8

15




to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair


Manual".





1. LINEAR ENCODER

1 - 33

1.3.3 LIDA 483, LIDA 485, LIDA 487, LIDA 489, LIDA 287, LIDA 289, LIF 481, or LIP 581 + EIB 392M

(incremental type)

POINT

This linear encoder is of four-wire type. When using this linear encoder, change

the parameter to select the four-wire type. For changing parameters, refer to

each servo amplifier instruction manual.









Encoder cable 1


Branch cable


MR-J4-_A_or


THM

or

(Note 3)

1)

Linear encoderLIDA 483, LIDA 485, LIDA 487,LIDA 489, LIDA 287, LIDA 289,LIF 481, or LIP 581 + EIB 392M

Head cable

3)2)

Serial interface conversion unit

CN2BCN2A

CN2

CN2C

CN2 4) SCALE


3)5)

Encoder cable 2

(Note 1)

Branch cable Encoder cable Serial interface conversion unit

Head cable




EIB 392M Cable length: 0.5 m (Heidenhain) (Note 2)




3) Junction connector (Note 2) D-SUB15 pin (female) When not using a

branch cable 5) Connector set

MR-J3CN2 (Refer to (2) (b) of this section.)




1. LINEAR ENCODER

1 - 34


MR-J4-_A_-RJor



1)

Head cable

Encoder cable 1

3)2)

Serial interfaceconversion unit


Branch cable

CN2

CN2L

CN2 4) SCALE

THM (Note 2)


3)5)

Encoder cable 2

Branch cable Encoder cable Serial interface conversion unit

Head cable




EIB 392M Cable length: 0.5 m (Heidenhain) (Note 1)




3) Junction connector (Note 1) D-SUB15 pin (female) When not using a

branch cable 5) Connector set

MR-J3CN2 (Refer to (2) (b) of this section.)



1. LINEAR ENCODER

1 - 35


MR-J4-_A_-RJ/MR-J4-_B_-RJ servo amplifier or MR-J4-DU_A_-RJ/MR-J4-DU_B_-RJ drive unit



drive unit


1)

Head cable

Encoder cable 1

3)2)

Serial interfaceconversion unit

CN2

CN2L


Encoder cable Serial interface conversion unit

Head cable



EIB 392M Cable length: 0.5 m (Heidenhain) (Note)






1. LINEAR ENCODER

1 - 36




(a) Encoder cable 1

MXR

MX

MXR

MX


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR



(Note 2)

Connector: D-SUB (female) 15-pin

P5

LG

1

2


0V

5V

MX

MXR

SD

7

8

Plate

/SD

SD

0V/Sensor

5V/Sensor

MR

MRR

3

4 /RQ

RQ

(Note 1)4

2

FG

5

13

12

10

8

15

(Note 2)

(Note 2)


Wiring length Number of LG and P5 connections Cable size

to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair


Pin 3: MR2 Pin 4: MRR2 Pin 7: MX2 Pin 8: MXR2





1. LINEAR ENCODER

1 - 37

(b) Encoder cable 2


or




MXR

MX

MXR

MX

1P5

3 7 9

4MRR

2LG

86 10

5

4MRR

2LG 8

6

1P5

5

10

3 79

MR

MR

THM2

THM1

THM2

THM1


0V/Sensor

5V/Sensor


Plate

(Note 1)


AWG 24 to 20

THM1

THM2

5

6

P5

LG

1

2 0V

5V

MX

MXR

SD

7

8 /SD

SD

MR

MRR

3

4 /RQ

RQ

4

2

FG

5

13

12

10

8

15



to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair


Manual".



Referring POINT of chapter 1, securely connect the external conductor of the shielded cable

to the ground plate and fix it to the connector shell.

1. LINEAR ENCODER

1 - 38

1.4 Linear encoder manufactured by Magnescale

POINT

SR77 and SR87 are absolute type. SR75 and SR85 are incremental position

type.



1.4.1 SR77/SR87/SR75/SR85





Linear encoderSR77, SR87, SR75 or SR85

(Note 2) Encoder cable (model: CH33)


Branch cableMR-J4THCBL03M

CN2BCN2A

CN2

CN2C


MR-J4-_A_or


(Note 1)

CN2 SCALE

THM

or

(Note 3)


2. This option is manufactured by Magnescale. It should be prepared by the customer.



MR-J4-_A_-RJ or

MR-J4-_B_-RJservo amplifier Linear encoder

SR77, SR87, SR75, or SR85

(Note 1) Encoder cable (model: CH33)


Branch cableMR-J4THCBL03M

CN2

CN2L

CN2 SCALE

THM (Note 2)

Note 1. This option is manufactured by Magnescale. It should be prepared by the customer.


1. LINEAR ENCODER

1 - 39



CN2BCN2A

CN2

MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unit

or


(Note) Encoder cable (model: CH33)


Branch cableMR-J4FCCBL03M

CN2 SCALE

MOTOR


Note. This option is manufactured by Magnescale. It should be prepared by the customer.


(Note) Encoder cable (model: CH33)Encoder of rotary servo motor

CN2



drive unit

CN2L


Note. This option is manufactured by Magnescale. It should be prepared by the customer.

1. LINEAR ENCODER

1 - 40

1.4.2 SL710 + PL101-RM/RHM (incremental type)





Encoder cable 1


Branch cable


MR-J4-_A_or


(Note 1)

THM

or

(Note 3)

2) 3)

InterpolatorMJ832

Linear encoderSL710

CN2BCN2A

CN2

CN2C

1)

CN2 4) SCALE

PL101-RM/RHM


3)5)

Encoder cable 2

Branch cable Encoder cable Interpolator



1) Options manufactured by Magnescale (Note 2) CE33-_

Accessories for linear encoder MJ832



3) Junction connector (Note 2) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)






1. LINEAR ENCODER

1 - 41


MR-J4-_A_-RJ or


2) 3)

InterpolatorMJ832

Linear encoderSL710


Branch cable

CN2

CN2L

1)

Encoder cable 1

CN2 4) SCALE

THM (Note 2)

PL101-RM/RHM


3)5)

Encoder cable 2




1) Options manufactured by Magnescale (Note 1) CE33-_




3) Junction connector (Note 1) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent) When not using a

branch cable 5) Connector set MR-J3CN2

(Refer to (2) (b) of this section.)



1. LINEAR ENCODER

1 - 42



Encoder cable 1


Branch cableMR-J4W2-_Bservo amplifier

MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unit

or

InterpolatorMJ832

Linear encoder

CN2 4) SCALE

SL710

PL101-RM/RHM

1)

CN2 4) SCALE

MOTOR

CN2BCN2A

CN2

2) 3)




1) Options manufactured by Magnescale (Note) CE33-_




3) Junction connector (Note) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)






drive unit

CN2L

2) 3)

InterpolatorMJ832

Linear encoderSL7101)

Encoder cable 1

PL101-RM/RHM

Encoder cable Interpolator


1) Options manufactured by Magnescale (Note) CE33-_




3) Junction connector (Note) Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M or equivalent)


1. LINEAR ENCODER

1 - 43

(2) Production of encoder cable between the servo amplifier and the interpolator



(a) Encoder cable 1


1 3 7 9

4MRR

2LG

P5

P5

86 10

5

or

4MRR

2LG 8

6

1 5

10

3 79


MR

MR



(Note 2)

P5

LG

1

2

MR

MRR

3

4

Servo amplifier side Interpolator side

SD Plate

1

2

3

4

Plate

0V

SD/RQ

-SD/-RQ

FG

5V(Note 1)

(Note 2)


Plug: 36110-3000FDShell kit: 36310-F200-008(3M or equivalent)

0 V4

SD/RQ

28

6

15 V

5

10

3

-SD/-RQ

79



to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair






1. LINEAR ENCODER

1 - 44

(b) Encoder cable 2


or




1 3 7 9

4MRR

2LG

86 10

5

4MRR

2LG 8

6

1 5

10

3 79

MR

MR

THM2

THM1P5

THM2

THM1P5

AWG 24 to 20


THM1

THM2

5

6

P5

LG

1

2

MR

MRR

3

4

Servo amplifier side Interpolator side

SD Plate

1

2

3

4

Plate

0V

SD/RQ

-SD/-RQ

FG

5V(Note 1)


Plug: 36110-3000FDShell kit: 36310-F200-008(3M or equivalent)

0 V4

SD/RQ

28

6

15 V

5

10

3

-SD/-RQ

79



to 5 m 1-pair


to 20 m 3-pair

to 30 m 4-pair





1. LINEAR ENCODER

1 - 45

1.5 Linear encoder RESOLUTE RL40M (absolute position type) manufactured by Renishaw

POINT







Encoder cable 2


Branch cable


MR-J4-_A_or


(Note 1)

THM

or

(Note 4)

Linear encoderRESOLUTE RL40M

2)Output cable

1)

CN2BCN2A

CN2

CN2C

CN2 3) SCALE

2)4)


Encoder cable 1

Branch cable Encoder cable (Note 2) Output cable

When using a branch cable




Accessories for linear encoder Cable length: 0.5 m




2. Produce an encoder cable. An optional cable is not provided.



1. LINEAR ENCODER

1 - 46


MR-J4-_A_-RJ or



2)Output cable

1)


Branch cable

CN2

CN2L

CN2 3) SCALE

THM (Note 3)

2)4)


Encoder cable 2

Encoder cable 1









Note 1. Produce an encoder cable. An optional cable is not provided.



1. LINEAR ENCODER

1 - 47



Encoder cable 1

2) Output cable1)


Branch cable

CN2 3) SCALE

MOTOR

CN2BCN2A

CN2


MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unit

or













drive unit

CN2L


2) Output cable1)

Encoder cable 1

Encoder cable (Note 1) Output cable






1. LINEAR ENCODER

1 - 48




(a) Encoder cable 1


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR



(Note 2)

(Note 2)


P5

LG

1

2


SD Plate SD

8

2 LG

P5

MR

MRR

3

4

10

1 MRR

MR

Case

(Note 1)



(when the output cable is 0.5 m or less) Cable size

to 10 m 1-pair


to 30 m 3-pair







1. LINEAR ENCODER

1 - 49

(b) Encoder cable 2


or




1P5

3 7 9

4MRR

2LG

86 10

5

4MRR

2LG 8

6

1P5

5

10

3 79

MR

MR

THM2

THM1

THM2

THM1


AWG 24 to 20


THM1

THM2

5

6


P5

LG

1

2

SD Plate SD

8

2 LG

P5

MR

MRR

3

4

10

1 MRR

MR

Case

(Note 1)



(when the output cable is 0.5 m or less) Cable size

to 10 m 1-pair


to 30 m 3-pair


Manual".





1. LINEAR ENCODER

1 - 50

1.6 Linear encoder PSLH041 manufactured by NIDEC SANKYO (Incremental type)

(1) Cable structure




CN2

MR-J4-_A_or

MR-J4-_Bservo amplifier

or

Linear encoderPSLH041

2)Output cable

1)


Branch cable

CN2BCN2A

CN2C


CN2 3) SCALE

THM (Note 4)

2)4)


Encoder cable 2

Encoder cable 1

(Note 1)

branch cable Encoder cable (Note 2) Output cable









2. Produce an encoder cable. An optional cable is not provided.



1. LINEAR ENCODER

1 - 51


CN2

MR-J4-_A_-RJor



2)Output cable

1)


Branch cable

CN2L

CN2 3) SCALE

THM (Note 3)

2)4)


Encoder cable 2

Encoder cable 1















2) Output cable1)


Branch cable

CN2 3) SCALE

MOTOR

CN2BCN2A

CN2

MR-J4W2_-_Bservo amplifier

or

MR-J4-_A_/MR-J4-_B_

servo amplifieror


drive unit

Encoder cable 1








1. LINEAR ENCODER

1 - 52





drive unit

CN2L


2) Output cable1)

Encoder cable 1

Encoder cable (Note 1) Output cable






1. LINEAR ENCODER

1 - 53

(2) Fabrication of the encoder cable

Produce the load-side encoder cable using MR-J3CN2 or a junction connector as shown below. The


(a) Encoder cable 1


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR



(Note 2)

Connector: D-SUB 15 pin (female)

P5

LG

1

2


SD Plate

3

1 GND

VCC

MR

MRR

3

4

7

8 /RQ / /DT

SD

RQ / DT

Plate

(Note 2)


Wiring length

Number of LG and P5 connections

(when the output cable is 0.5 m or less)

Wire size

to 5 m 1-pair

to 10 m 2-pairs AWG 22

to 20 m 4-pairs

to 30 m 5-pairs


Pin 3: MR2

Pin 4: MRR2

3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is

connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1,

securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector

shell.

1. LINEAR ENCODER

1 - 54

(b) Encoder cable 2


1P5

3 7 9

4MRR

2LG

86 10

5

or

4MRR

2LG 8

6

1P5

5

10

3 79


MR

MR



THM2

THM1

THM2

THM1

Connector: D-SUB 15 pin (female)

P5

LG

1

2


THM1

THM2 6

3

1 GND

VCC

SDSD

MR

MRR

3

4

5

7

8 /RQ / /DT

RQ / DT

Plate Plate

AWG 24 to 20

Thermistor of linearservo motor (Note 2)


Wiring length

Number of LG and P5 connections

(when the output cable is 0.5 m or less)

Wire size

to 5 m 1-pair

to 10 m 2-pairs AWG 22

to 20 m 4-pairs

to 30 m 5-pairs


3. Do not connect anything to the pins shown as . Especially, pin 10 is for manufacturer adjustment. If it is

connected with any other pin, the servo amplifier cannot operate normally. Referring POINT of chapter 1,

securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector

shell.

1. LINEAR ENCODER

1 - 55

1.7 A/B/Z-phase differential output linear encoder

POINT

When using a linear encoder of A/B/Z-phase differential output method, use an

MR-J4-(DU)_A_-RJ/MR-J4-(DU)_B_-RJ.

This section explains the connection of the A/B/Z-phase differential output linear encoder. Prepare the MR-

J3CN2 connector set for the encoder cable and fabricate it according to the wiring diagram in (3) of this

section.

(1) A/B/Z-phase differential output linear encoder specifications

Each signal of the A, B, and Z-phase of the linear encoder is provided in the differential line driver

output. It cannot be provided in the collector output.

The phase differences of the A-phase and B-phase pulses and the pulse width of the Z-phase pulse

need to be 200 ns or more.

The output pulse of A-phase and B-phase of the A/B/Z-phase differential output linear encoder is in the

multiply-by-four count method.

The linear encoder without Z-phase cannot make a home position return.

The tolerable resolution range is between 0.001 µm and 5 µm. Please select a linear encoder within the

range.

LA

LAR

LB

LBR

LZ

LZR

Linear encoder

Am26LS31 orequivalent

LAR, LBR, LZR

LA, LB, LZ

Phase difference: 200 ns or more

1 pulse of Z-phase = 200 ns or more

(2) Connection of servo amplifier and A/B/Z-phase differential output linear encoder

Connector setMR-J3CN2 (option)

A/B/Z-phase differential output linear encoder

Servo amplifier

CN2L

CN2Thermistor of linear servo motor

1. LINEAR ENCODER

1 - 56

(3) Internal wiring diagram

For fabrication, use a cable durable against the long period of bending action. Even though the cable

length is max. 30 m for the RS-422 communication, the length may be shortened due to the power

supply voltage drop or the specifications of linear encoder.

A connection example is shown below. Contact each linear encoder manufacturer for details.

1) When the consumption current of the linear encoder is 350 mA or less

B-phase

P5

LG

1

2

PZ

PZR

7

8

Servo amplifier-side connector

A/B/Z-phase differential outputlinear encoder

10

SD Plate

5V

3

4

5

6

9

PA

PAR

PB

PBR

0V

A-phase

A-phase

B-phase

Z-phase

Z-phase(Note 1)

30 m or less

(Note 2) Shield

PSEL

(Note 3)

Note 1. For the encoder without Z-phase, set [Pr. PC27] to "_ 1 _ _".

2. Securely connect a shielded wire to the plate (ground plate) in the connector.

3. We recommend the following specifications encoder cables for the linear encoder

which consumption current is 350 mA. When the consumption current of the

encoder is less than 350 mA, the paired connections can be decreased.


connections Cable size

to 5 m 2-pair


to 20 m 6-pair

to 30 m 8-pair

1. LINEAR ENCODER

1 - 57

2) When the consumption current of the linear encoder is more than 350 mA

POINT

When turning on the power, turn on the linear encoder and then turn on the

servo amplifier. When turning off the power, turn off the servo amplifier and then

turn off the linear encoder.

B-phase

A-phase

A-phase

B-phase

Z-phase

Z-phase(Note 1)

P5

LG

1

2

PZ

PZR

7

8

Servo amplifier-side connector

A/B/Z-phase differential outputlinear encoder

10SD Plate

5V

3

4

5

6

9

PA

PAR

PB

PBR

0V

30 m or less

(Note 2) Shield

PSEL

External 5 V DC power supply

Note 1. For the encoder without Z-phase, set [Pr. PC27] to "_ 1 _ _".

2. Securely connect a shielded wire to the plate (ground plate) in the connector.

1. LINEAR ENCODER

1 - 58

MEMO

2. OPTION CABLE/CONNECTOR SETS

2 - 1


2.1 MR-EKCBL_M-H encoder cable

(1) Model explanations

2

5

2

5

Symbol Cable length [m]

Long bending life

Model:

(2) Cable structure

The table shows this optional cable structure.

IP rating Bending life Length

[m]

Core size

[mm2]

Number of cores

Characteristics of one core (Note 2)

Cable OD [mm]

Wire model (manufacturer)

Structure [Wires/mm]

Conductor resistance

[Ω/km]

(Note 1) Insulation coating

OD d [mm]

IP20 Long bending life 2/5 0.2 12

(6 pairs) 40/0.08 105 or less 0.88 7.2

(Note 3) A14B2339 6P (Junkosha)

Note 1. d is as shown below.

2. Standard OD. Maximum OD is about 10% greater.

3. Purchase from Toa Electric Industry

1)2)

Cable model 1) SCALE-side connector of branch cable 2) Junction connector

MR-EKCBL_M-H Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

Connector set: 54599-1019 (Molex)

Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry)

RQ1 2 3

/RQ4 5 6

P57 8 9

LG FG


MRRLG

P5 P5MR

View seen from wiring side. (Note) View seen from wiring side. (Note)

1 3 7 9

42 86 10

5or

42

86

1 5

10

3 79

MRRLG

MR

Note. Keep open the pins shown with . Especially, pin 10 is provided for

manufacturer adjustment. If it is connected with any other pin, the servo

amplifier cannot operate normally. Referring POINT of chapter 1, securely

connect the external conductor of the shielded cable to the ground plate

and fix it to the connector shell.


2 - 2

(3) Internal wiring diagram

P5

LG

1

2

MR

MRR

3

4

3

7


9

SD Plate

1

2

8

9

LG

RQ

/RQ

FG

P5

2.2 MR-ECNM connector set

The following shows the connector combination for this connector set.

IP rating Parts Description

IP20 Connector set MR-ECNM

SCALE-side connector of branch cable Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or Connector set: 54599-1019 (Molex)

Junction connector Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industry)

2.3 MR-J3CN2 connector set

The following shows the details of this connector set.

Connector setMR-J3CN2Receptacle: 36210-0100PLShell kit: 36310-3200-008(3M or equivalent)

View seen from wiring side. View seen from wiring side.

1 3 7 9

42 86 10

5or

42

86

1 5

10

3 79



2 - 3

2.4 MR-J4THCBL03M branch cable

This branch cable is for connecting the thermistor of linear servo motor and the linear encoder to CN2

connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to App. 1.

LG


4MRR

2LG 8

6

1P5

5

10

3MR

79

THM2

THM1

MXR

SEL SEL

MXBAT

SD

3

4

1

CN2 SCALEPlate

(Note 1) (Note 2)

0.3 m

MR

P5

MRR

SD

MR

P5

MRR

3

4

1

Plate


4MRR

28

6

1P5

5

10

3MR

79


42

86

15

10

379

BAT

MXR

MX

2

THM2 6

7MX

LG LG2

MXR 8

BAT

SEL

9

10

5THM1

7 MX

8 MXR

9 BAT

10 SEL

THM(Note 2, 3)

(Note 4)

THM1

SD

THM2

5

6

Plate

THM2

THM1

Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)


4. When fabricating the cable, you do not need to wire these signals for the manufacturer.





2 - 4

2.5 MR-J4FCCBL03M branch cable

This branch cable is for connecting the encoder of rotary servo motor and the load-side encoder to CN2

connector. When fabricating the branch cable using MR-J3THMCN2 connector set, refer to App. 2.

LG


4MRR

2LG 8

6

1P5

5

10

3MR

79

THM2

THM1

MXR

SEL THM2

THM1

SEL

MXBAT

SD

3

4

1

CN2 MOTORPlate

(Note 1) (Note 2)

0.3 m

MR

P5

MRR

SD

MR

P5

MRR

3

4

1

Plate


4MRR

28

6

1P5

5

10

3MR

79


42

86

15

10

379

BAT

2

THM2 6

7MX

LG LG2

MXR 8

BAT

SEL

9

10

5THM1 5 THM1

6 THM2

9 BAT

10 SEL

SCALE(Note 2)

P5

SD

SEL

LG

1

2

10

Plate

4 MXR

BAT9

3 MXBAT

SEL LG

P5

MXR

MX(Note 3)

(Note 4)

(Note 4)

Note 1. Receptacle: 36210-0100PL, shell kit: 36310-3200-008 (3M)

2. Plug: 36110-3000FD, shell kit: 36310-F200-008 (3M)

3. Connect MX to MR of the linear encoder cable, and MXR to MRR of the cable.

4. Always make connection for use in an absolute position detection system. Wiring is not necessary for use in an incremental

system.




3. DETAILED EXPLANATION OF [AL. 2A LINEAR ENCODER ERROR 1]

3 - 1


If the cause of [AL. 2A Linear encoder error 1] occurrence is not identified, confirm the alarm display details

of MR Configurator2, and contact each manufacturer.

Table 3.1 Detailed explanation of [AL. 2A Linear encoder error 1] for each manufacturer

Alarm No.

Detail information No.

[AL. 2A Linear encoder error 1] details

Mitutoyo Magnescale Heidenhain

Renishaw NIDEC

SANKYO

AT343A/AT54_A ST74_A SR_7 SR_5/SL710 RESOLUTE PSLH041

2A.1 01 Initialization error Overspeed error Laser diode error Initialization error Initial error EEPROM error

2A.2 02 Photoelectric capacitive data mismatch

Initialization error Encoder mismatch error

Encoder warning Scale level error

INC/ABS data mismatch error

Temperature error

2A.3 03 Photoelectric error

Hardware error Incremental signal error

INC data error Speed error

2A.4 04 Capacitive error ABS detection error

Absolute signal error

ABS data error Absolute signal error

Offset error

2A.5 05 CPU error Transducer error CPU error Amplitude error

2A.6 06 EEPROM error Signal strength error

System memory error

Encoder alarm EEPROM error Thermal alarm

2A.7 07 ROM/RAM error Signal strength alarm

2A.8 08 Optical overspeed

Thermal alarm Speed error Overspeed error Overspeed

As an example, the following describes the detailed information when [AL. 2A Linear encoder error 1] occurs

in the linear encoder AT343A manufactured by Mitutoyo.


3 - 2

MEMO

APPENDIX

App. - 1

App. 1 Production of branch cable for linear servo motor

Produce the branch cable using MR-J3THMCN2 connector set as shown in the connection diagram in

section 2.4.

The branch cable length should be 0.3 m or less.

Parts Description

MR-J3THMCN2 connector set

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or connector set: 54599-1019 (Molex)

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M)

Cable ETFE-SVP 40/0.08mm (AWG#24 or equivalent)×6P (Toa Electric Industry Co. Ltd., Nagoya Branch) VSVC 7/0.18mm × 2C (AWG#26 or equivalent) (Toa Electric Industry Co. Ltd., Nagoya Branch)

App. 2 Production of branch cable for fully closed loop control system

Produce the branch cable using MR-J3THMCN2 connector set as shown in the connection diagram in

section 2.5.

The branch cable length should be 0.3 m or less.

Parts Description

MR-J3THMCN2 connector set

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M) or connector set: 54599-1019 (Molex)

Plug: 36110-3000FD Shell kit: 36310-F200-008 (3M)

Cable ETFE-SVP 40/0.08mm (AWG#24 or equivalent)×6P (Toa Electric Industry Co. Ltd., Nagoya Branch) VSVP 7/0.16(AWG#26 or equivalent)-4P (Toa Electric Industry Co. Ltd., Nagoya Branch)

App. 3 Manufacturer list

Names given in the table are as of September 2014.

Manufacturer Contact

3M 3M

TE Connectivity TE Connectivity

Toa Electric Industry Toa Electric Industry Co., Ltd.

Heidenhain Heidenhain

Hirose Electric Hirose Electric Co., Ltd.

Magnescale Magnescale Co., Ltd.

Mitutoyo Mitutoyo Corporation

Molex Molex

Renishaw Renishaw

NIDEC SANKYO NIDEC SANKYO CORPORATION

REVISIONS

*The manual number is given on the bottom left of the back cover. Print Data *Manual Number Revision

Mar. 2012 SH(NA)030111-A First edition

May 2012 SH(NA)030111-B Chapter 1

Section 1.2.1 (1)

Section 1.2.1 (2) (b)

Section 1.2.2 (1)

Section 1.2.2 (2) (b)

Section 1.2.3 (1)

Section 1.2.3 (2) (b)

Section 1.3.1 (1)

Section 1.3.1 (2) (b)

Section 1.3.2 (1)

Section 1.3.2 (2) (b)

Section 1.4.1 (1) (a)

Section 1.4.2 (1)

Section 1.4.2 (2) (b)

Section 1.5.1 (1)

Section 1.5.1 (2) (b)

Section 1.5.2 (1)

Section 1.5.2 (2) (b)

Section 2.4

POINT is changed.

Drawing and table are changed.

Added.


Added.


Added.


Added.


Added.

CAUTION is added.


Added.


Added.


Added.

CAUTION is added.

Feb. 2013 SH(NA)030111-C Chapter 1

Section 1.1

Section 1.2.1 (1)

Section 1.2.1 (2)

Section 1.2.2 (1)

Section 1.2.2 (2)

Section 1.2.3 (1)

Section 1.2.3 (2)

Section 1.3.1 (1)

Section 1.3.1 (2)

Section 1.3.2 (1)

Section 1.3.2 (2)

Section 1.4.1 (1)

Section 1.4.2 (1)

Section 1.4.2 (2)

Section 1.5.1 (1)

Section 1.5.1 (2)

Section 1.5.2 (1)

Section 1.5.2 (2)

Section 1.6

POINT is changed.

Table is changed, (1) and (2) are added.

MR-J4-A is added to 1) of (a) and (b). 2) is added.

The titles of (a) and (b) are changed. Note is added to (a).
















Added.

Aug. 2013 SH(NA)030111-D Section 1.1 (1) (2)

Section 1.2.1 (1) (a) 2)

Section 1.2.2 (1) (a) 2)

Section 1.2.3 (1) (a) 2)

Section 1.3.1 (1) (b)

Section 1.3.2 (1) (b)

Section 1.4.1 (1) (a) 2)

Section 1.4.2 (1) (a) 2)

Section 1.5.1 (1) (a) 2)

Section 1.5.2 (1) (a) 2)

Section 1.6 (2)

The table is changed.

The illustration is changed.










Print Data *Manual Number Revision

Mar. 2014 SH(NA)030111-E Section 1.1 (1) Changed.

Sep. 2014 SH(NA)030111-F Encoder and large capacity servo amplifiers are added. Chapter 1

Section 1.2.1 (2) Section 1.2.2 (2) Section 1.2.3 (2) Section 1.3.1 (2) Section 1.3.2 (2) Section 1.3.3 (2) Section 1.4.2 (2) Section 1.5 (2) Section 1.6 Section 2.1 (2) Section 2.4 Section 2.5 Chapter 3 App. 3

POINT is added. Note is added. Note is added. Note is added. Note is added. Note is added. Note is added. Note is added. Note is added. Added. Note is partially changed. Note is added. Note is added. The table is partially changed. Partially added.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2012 MITSUBISHI ELECTRIC CORPORATION

MELSERVO is a trademark or registered trademark of Mitsubishi Electric Corporation in Japan and/or other countries. All other product names and company names are trademarks or registered trademarks of their respective companies.

Country/Region Sales office Tel/Fax USA MITSUBISHI ELECTRIC AUTOMATION, INC.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A.

Tel Fax

: +1-847-478-2100: +1-847-478-2253

Mexico MITSUBISHI ELECTRIC AUTOMATION, INC. Mexico BranchMariano Escobedo #69, Col. Zona Industrial, Tlalnepantla Edo, C.P.54030, Mexico

Tel Fax

: +52-55-3067-7500: –

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Tel Fax

: +55-11-4689-3000: +55-11-4689-3016

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Tel Fax

: +49-2102-486-0: +49-2102-486-1120

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Tel Fax

: +44-1707-28-8780: +44-1707-27-8695

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Tel Fax

: +39-039-60531: +39-039-6053-312

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Tel Fax

: +34-935-65-3131: +34-935-89-1579

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Tel Fax

: +33-1-55-68-55-68: +33-1-55-68-57-57

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Tel Fax

: +420-251-551-470: +420-251-551-471

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Tel Fax

: +48-12-630-47-00: +48-12-630-47-01

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Tel Fax

: +7-812-633-3497: +7-812-633-3499

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Tel Fax

: +46-8-625-10-00: +46-46-39-70-18

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Tel Fax

: +90-216-526-3990: +90-216-526-3995

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Tel Fax

: +27-11-658-8100: +27-11-658-8101

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Tel Fax

: +86-21-2322-3030: +86-21-2322-3000

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: +886-2-2299-2499: +886-2-2299-2509

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: +65-6473-2308: +65-6476-7439

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: +66-2682-6522 to 6531: +66-2682-6020

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: +62-21-3192-6461: +62-21-3192-3942

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: +84-8-3910-5945: +84-8-3910-5947

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: +91-20-2710-2000: +91-20-2710-2100

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Tel Fax

: +61-2-9684-7777: +61-2-9684-7245

Warranty 1. Warranty period and coverage

We will repair any failure or defect hereinafter referred to as "failure" in our FA equipment hereinafter referred to as the "Product" arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider. However, we will charge the actual cost of dispatching our engineer for an on-site repair work on request by customer in Japan or overseas countries. We are not responsible for any on-site readjustment and/or trial run that may be required after a defective unit are repaired or replaced.

[Term]

The term of warranty for Product is twelve (12) months after your purchase or delivery of the Product to a place designated by you or eighteen (18) months from the date of manufacture whichever comes first (“Warranty Period”). Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work.

[Limitations] (1) You are requested to conduct an initial failure diagnosis by yourself, as a general rule.

It can also be carried out by us or our service company upon your request and the actual cost will be charged. However, it will not be charged if we are responsible for the cause of the failure.

(2) This limited warranty applies only when the condition, method, environment, etc. of use are in compliance with the terms and

conditions and instructions that are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product.

(3) Even during the term of warranty, the repair cost will be charged on you in the following cases;

(i) a failure caused by your improper storing or handling, carelessness or negligence, etc., and a failure caused by your hardware or software problem

(ii) a failure caused by any alteration, etc. to the Product made on your side without our approval (iii) a failure which may be regarded as avoidable, if your equipment in which the Product is incorporated is equipped with a safety

device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry

(iv) a failure which may be regarded as avoidable if consumable parts designated in the instruction manual, etc. are duly maintained and replaced

(v) any replacement of consumable parts (battery, fan, smoothing capacitor, etc.) (vi) a failure caused by external factors such as inevitable accidents, including without limitation fire and abnormal fluctuation of

voltage, and acts of God, including without limitation earthquake, lightning and natural disasters (vii) a failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of

the Product from our company (viii) any other failures which we are not responsible for or which you acknowledge we are not responsible for

2. Term of warranty after the stop of production

(1) We may accept the repair at charge for another seven (7) years after the production of the product is discontinued. The announcement of the stop of production for each model can be seen in our Sales and Service, etc.

(2) Please note that the Product (including its spare parts) cannot be ordered after its stop of production.

3. Service in overseas countries

Our regional FA Center in overseas countries will accept the repair work of the Product. However, the terms and conditions of the repair work may differ depending on each FA Center. Please ask your local FA center for details.

4. Exclusion of responsibility for compensation against loss of opportunity, secondary loss, etc.

Whether under or after the term of warranty, we assume no responsibility for any damages arisen from causes for which we are not responsible, any losses of opportunity and/or profit incurred by you due to a failure of the Product, any damages, secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company, any damages to products other than the Product, and also compensation for any replacement work, readjustment, start-up test run of local machines and the Product and any other operations conducted by you.

5. Change of Product specifications

Specifications listed in our catalogs, manuals or technical documents may be changed without notice.

6. Application and use of the Product (1) For the use of our General-Purpose AC Servo, its applications should be those that may not result in a serious damage even if any

failure or malfunction occurs in General-Purpose AC Servo, and a backup or fail-safe function should operate on an external system to General-Purpose AC Servo when any failure or malfunction occurs.

(2) Our General-Purpose AC Servo is designed and manufactured as a general purpose product for use at general industries.

Therefore, applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies, and also which require a special quality assurance system, including applications for railway companies and government or public offices are not recommended, and we assume no responsibility for any failure caused by these applications when used In addition, applications which may be substantially influential to human lives or properties for such as airlines, medical treatments, railway service, incineration and fuel systems, man-operated material handling equipment, entertainment machines, safety machines, etc. are not recommended, and we assume no responsibility for any failure caused by these applications when used. We will review the acceptability of the abovementioned applications, if you agree not to require a specific quality for a specific application. Please contact us for consultation.

SH(NA)030111-F

SH (NA) 030111-F (1409) MEE Printed in Japan Specifications are subject to change without notice. This Instruction Manual uses recycled paper.

MODEL

MODELCODE

General-Purpose AC Servo

compatible

HEAD OFFICE : TOKYO BLDG MARUNOUCHI TOKYO 100-8310

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